diff --git a/src/devices/absolutemotor.ts b/src/devices/absolutemotor.ts
index e0700c0..7d89a0d 100644
--- a/src/devices/absolutemotor.ts
+++ b/src/devices/absolutemotor.ts
@@ -3,7 +3,7 @@ import { TachoMotor } from "./tachomotor";
 import { IDeviceInterface } from "../interfaces";
 
 import * as Consts from "../consts";
-import { mapSpeed } from "../utils";
+import { mapSpeed, normalizeAngle } from "../utils";
 
 export class AbsoluteMotor extends TachoMotor {
 
@@ -16,13 +16,13 @@ export class AbsoluteMotor extends TachoMotor {
 
         switch (mode) {
             case Mode.ABSOLUTE:
-                // const absolute = message.readInt32LE(this.isWeDo2SmartHub ? 2 : 4);
-                // /**
-                //  * Emits when a the motors absolute position is changed.
-                //  * @event AbsoluteMotor#absolute
-                //  * @param {number} absolute
-                //  */
-                // this.emitGlobal("absolute", { absolute });
+                const angle = normalizeAngle(message.readInt16LE(this.isWeDo2SmartHub ? 2 : 4));
+                /**
+                 * Emits when a the motors absolute position is changed.
+                 * @event AbsoluteMotor#absolute
+                 * @param {number} absolute
+                 */
+                this.emitGlobal("absolute", { angle });
                 break;
             default:
                 super.receive(message);
@@ -33,12 +33,12 @@ export class AbsoluteMotor extends TachoMotor {
     /**
      * Rotate a motor by a given angle.
      * @method AbsoluteMotor#gotoAbsolutePosition
-     * @param {number} position Absolute position the motor should go to (degrees from 0).
+     * @param {number} angle Absolute position the motor should go to (degrees from 0).
      * @param {number} [speed=100] For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100.
      * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
      */
-    public gotoAbsolutePosition (position: [number, number] | number, speed: number = 100) {
-        if (!this.isVirtualPort && position instanceof Array) {
+    public gotoAbsoluteAngle (angle: [number, number] | number, speed: number = 100) {
+        if (!this.isVirtualPort && angle instanceof Array) {
             throw new Error("Only virtual ports can accept multiple positions");
         }
         if (this.isWeDo2SmartHub) {
@@ -50,16 +50,17 @@ export class AbsoluteMotor extends TachoMotor {
                 speed = 100;
             }
             let message;
-            if (position instanceof Array) {
+            if (angle instanceof Array) {
                 message = Buffer.from([0x81, this.portId, 0x11, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), 0x64, 0x7f, 0x03]);
-                message.writeUInt32LE(position[0], 4);
-                message.writeUInt32LE(position[1], 8);
+                message.writeInt32LE(normalizeAngle(angle[0]), 4);
+                message.writeInt32LE(normalizeAngle(angle[1]), 8);
             } else {
                 message = Buffer.from([0x81, this.portId, 0x11, 0x0d, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), 0x64, 0x7f, 0x03]);
-                message.writeUInt32LE(position, 4);
+                message.writeInt32LE(normalizeAngle(angle), 4);
             }
             this.send(message);
             this._finished = () => {
+                console.log("RESOLVE");
                 return resolve();
             };
         });
@@ -68,11 +69,11 @@ export class AbsoluteMotor extends TachoMotor {
     /**
      * (Re)set the knowledge of the absolute position to the current position.
      * @method AbsoluteMotor#resetAbsolutePosition
-     * @param {number} position Position to set (degrees from 0).
+     * @param {number} angle Position to set (degrees from 0).
      * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
      */
-    public resetAbsolutePosition (position: [number, number] | number) {
-        if (!this.isVirtualPort && position instanceof Array) {
+    public resetAbsoluteAngle (angle: [number, number] | number) {
+        if (!this.isVirtualPort && angle instanceof Array) {
             throw new Error("Only virtual ports can accept multiple positions");
         }
         if (this.isWeDo2SmartHub) {
@@ -81,13 +82,13 @@ export class AbsoluteMotor extends TachoMotor {
         return new Promise((resolve) => {
             this._busy = true;
             let message;
-            if (position instanceof Array) {
+            if (angle instanceof Array) {
                 message = Buffer.from([0x81, this.portId, 0x11, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]);
-                message.writeUInt32LE(position[0], 4);
-                message.writeUInt32LE(position[0], 8);
+                message.writeInt32LE(normalizeAngle(angle[0]), 4);
+                message.writeInt32LE(normalizeAngle(angle[0]), 8);
             } else {
                 message = Buffer.from([0x81, this.portId, 0x11, 0x51, 0x02, 0x00, 0x00, 0x00, 0x00]);
-                message.writeUInt32LE(position, 5);
+                message.writeInt32LE(normalizeAngle(angle), 5);
             }
             this.send(message);
             this._finished = () => {
diff --git a/src/devices/device.ts b/src/devices/device.ts
index fc34d28..2897abd 100644
--- a/src/devices/device.ts
+++ b/src/devices/device.ts
@@ -36,6 +36,7 @@ export class Device extends EventEmitter {
             }
             if (this.autoSubscribe) {
                 if (this._modeMap[event] !== undefined) {
+                    console.log(this._modeMap[event]);
                     this.subscribe(this._modeMap[event]);
                 }
             }
diff --git a/src/devices/tachomotor.ts b/src/devices/tachomotor.ts
index a675a5b..ffceeab 100644
--- a/src/devices/tachomotor.ts
+++ b/src/devices/tachomotor.ts
@@ -16,13 +16,13 @@ export class TachoMotor extends BasicMotor {
 
         switch (mode) {
             case Mode.ROTATION:
-                const rotation = message.readInt32LE(this.isWeDo2SmartHub ? 2 : 4);
+                const degrees = message.readInt32LE(this.isWeDo2SmartHub ? 2 : 4);
                 /**
                  * Emits when a rotation sensor is activated.
                  * @event TachoMotor#rotate
                  * @param {number} rotation
                  */
-                this.emitGlobal("rotate", { rotation });
+                this.emitGlobal("rotate", { degrees });
                 break;
         }
     }
@@ -68,18 +68,18 @@ export class TachoMotor extends BasicMotor {
     }
 
     /**
-     * Rotate a motor by a given angle.
-     * @method TachoMotor#rotateByAngle
-     * @param {number} angle How much the motor should be rotated (in degrees).
+     * Rotate a motor by a given amount of degrees.
+     * @method TachoMotor#rotateByDegrees
+     * @param {number} degrees How much the motor should be rotated (in degrees).
      * @param {number} [speed=100] For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100.
      * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
      */
-    public rotateByAngle (angle: number, speed: [number, number] | number) {
+    public rotateByDegrees (degrees: number, speed: [number, number] | number) {
         if (!this.isVirtualPort && speed instanceof Array) {
             throw new Error("Only virtual ports can accept multiple speeds");
         }
         if (this.isWeDo2SmartHub) {
-            throw new Error("Angle rotation is not available on the WeDo 2.0 Smart Hub");
+            throw new Error("Rotation is not available on the WeDo 2.0 Smart Hub");
         }
         return new Promise((resolve) => {
             this._busy = true;
@@ -92,7 +92,7 @@ export class TachoMotor extends BasicMotor {
             } else {
                 message = Buffer.from([0x81, this.portId, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), 0x64, 0x7f, 0x03]);
             }
-            message.writeUInt32LE(angle, 4);
+            message.writeUInt32LE(degrees, 4);
             this.send(message);
             this._finished = () => {
                 return resolve();
diff --git a/src/utils.ts b/src/utils.ts
index 4bff8d5..4e330a4 100644
--- a/src/utils.ts
+++ b/src/utils.ts
@@ -29,3 +29,12 @@ export const decodeVersion = (version: number) => {
 export const decodeMACAddress = (address: Uint8Array) => {
     return Array.from(address).map((part) => toHex(part, 2)).join(":");
 };
+
+export const normalizeAngle = (angle: number) => {
+    if (angle >= 180) {
+        return angle - (360 * ((angle + 180) / 360));
+    } else if (angle < -180) {
+        return angle + (360 * ((180 - angle) / 360));
+    }
+    return angle;
+};